To learn more about URDF and Xacro and Gazebo you can refer book: Mastering ROS for Robotics Programming - Second Edition (https://www.packtpub.com/hardware-and-creative/mastering-ros-robotics-programming-second-edition)
Learning Robotics using Python - Second Edition
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Learning Robotics using Python - Second Edition
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Overview of this book
Robot Operating System (ROS) is one of the most popular robotics software frameworks in research and industry. It has various features for implementing different capabilities in a robot without implementing them from scratch.
This book starts by showing you the fundamentals of ROS so you understand the basics of differential robots. Then, you'll learn about robot modeling and how to design and simulate it using ROS. Moving on, we'll design robot hardware and interfacing actuators. Then, you'll learn to configure and program depth sensors and LIDARs using ROS. Finally, you'll create a GUI for your robot using the Qt framework.
By the end of this tutorial, you'll have a clear idea of how to integrate and assemble everything into a robot and how to bundle the software package.
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Current Title:
Learning Robotics using Python - Second Edition
Table of Contents (12 chapters)
Preface
Free Chapter
Getting Started with Robot Operating System
Understanding the Basics of Differential Robots
Modeling the Differential Drive Robot
Simulating a Differential Drive Robot Using ROS
Designing ChefBot Hardware and Circuits
Interfacing Actuators and Sensors to the Robot Controller
Interfacing Vision Sensors with ROS
Building ChefBot Hardware and the Integration of Software
Designing a GUI for a Robot Using Qt and Python
Assessments
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